[wpilib] Add Pneumatics sim classes (#4033)

wpilibc/src/main/native/include/frc/simulation/CTREPCMSim.h

@@ -8,17 +8,14 @@
 
 #include "frc/PneumaticsBase.h"
 #include "frc/simulation/CallbackStore.h"
+#include "frc/simulation/PneumaticsBaseSim.h"
 
-namespace frc {
-
-class Compressor;
-
-namespace sim {
+namespace frc::sim {
 
 /**
  * Class to control a simulated Pneumatic Control Module (PCM).
  */
-class CTREPCMSim {
+class CTREPCMSim : public PneumaticsBaseSim {
  public:
   /**
    * Constructs with the default PCM module number (CAN ID).
@@ -34,81 +31,28 @@ class CTREPCMSim {
 
   explicit CTREPCMSim(const PneumaticsBase& pneumatics);
 
-  /**
-   * Register a callback to be run when a solenoid is initialized on a channel.
-   *
-   * @param callback the callback
-   * @param initialNotify should the callback be run with the initial state
-   * @return the CallbackStore object associated with this callback
-   */
+  ~CTREPCMSim() override = default;
+
   [[nodiscard]] std::unique_ptr<CallbackStore> RegisterInitializedCallback(
-      NotifyCallback callback, bool initialNotify);
+      NotifyCallback callback, bool initialNotify) override;
 
-  /**
-   * Check if a solenoid has been initialized on a specific channel.
-   *
-   * @return true if initialized
-   */
-  bool GetInitialized() const;
+  bool GetInitialized() const override;
 
-  /**
-   * Define whether a solenoid has been initialized on a specific channel.
-   *
-   * @param solenoidInitialized is there a solenoid initialized on that channel
-   */
-  void SetInitialized(bool solenoidInitialized);
+  void SetInitialized(bool initialized) override;
 
-  /**
-   * Register a callback to be run when the solenoid output on a channel
-   * changes.
-   *
-   * @param channel the channel to monitor
-   * @param callback the callback
-   * @param initialNotify should the callback be run with the initial value
-   * @return the CallbackStore object associated with this callback
-   */
   [[nodiscard]] std::unique_ptr<CallbackStore> RegisterSolenoidOutputCallback(
-      int channel, NotifyCallback callback, bool initialNotify);
+      int channel, NotifyCallback callback, bool initialNotify) override;
 
-  /**
-   * Check the solenoid output on a specific channel.
-   *
-   * @param channel the channel to check
-   * @return the solenoid output
-   */
-  bool GetSolenoidOutput(int channel) const;
+  bool GetSolenoidOutput(int channel) const override;
 
-  /**
-   * Change the solenoid output on a specific channel.
-   *
-   * @param channel the channel to check
-   * @param solenoidOutput the new solenoid output
-   */
-  void SetSolenoidOutput(int channel, bool solenoidOutput);
+  void SetSolenoidOutput(int channel, bool solenoidOutput) override;
 
-  /**
-   * Register a callback to be run when the compressor activates.
-   *
-   * @param callback the callback
-   * @param initialNotify whether to run the callback with the initial state
-   * @return the CallbackStore object associated with this callback
-   */
   [[nodiscard]] std::unique_ptr<CallbackStore> RegisterCompressorOnCallback(
-      NotifyCallback callback, bool initialNotify);
+      NotifyCallback callback, bool initialNotify) override;
 
-  /**
-   * Check if the compressor is on.
-   *
-   * @return true if the compressor is active
-   */
-  bool GetCompressorOn() const;
+  bool GetCompressorOn() const override;
 
-  /**
-   * Set whether the compressor is active.
-   *
-   * @param compressorOn the new value
-   */
-  void SetCompressorOn(bool compressorOn);
+  void SetCompressorOn(bool compressorOn) override;
 
   /**
    * Register a callback to be run whenever the closed loop state changes.
@@ -145,21 +89,21 @@ class CTREPCMSim {
    * @return the CallbackStore object associated with this callback
    */
   [[nodiscard]] std::unique_ptr<CallbackStore> RegisterPressureSwitchCallback(
-      NotifyCallback callback, bool initialNotify);
+      NotifyCallback callback, bool initialNotify) override;
 
   /**
    * Check the value of the pressure switch.
    *
    * @return the pressure switch value
    */
-  bool GetPressureSwitch() const;
+  bool GetPressureSwitch() const override;
 
   /**
    * Set the value of the pressure switch.
    *
    * @param pressureSwitch the new value
    */
-  void SetPressureSwitch(bool pressureSwitch);
+  void SetPressureSwitch(bool pressureSwitch) override;
 
   /**
    * Register a callback to be run whenever the compressor current changes.
@@ -170,43 +114,26 @@ class CTREPCMSim {
    */
   [[nodiscard]] std::unique_ptr<CallbackStore>
   RegisterCompressorCurrentCallback(NotifyCallback callback,
-                                    bool initialNotify);
+                                    bool initialNotify) override;
 
   /**
    * Read the compressor current.
    *
    * @return the current of the compressor connected to this module
    */
-  double GetCompressorCurrent() const;
+  double GetCompressorCurrent() const override;
 
   /**
    * Set the compressor current.
    *
    * @param compressorCurrent the new compressor current
    */
-  void SetCompressorCurrent(double compressorCurrent);
+  void SetCompressorCurrent(double compressorCurrent) override;
 
-  /**
-   * Get the current value of all solenoid outputs.
-   *
-   * @return the solenoid outputs (1 bit per output)
-   */
-  uint8_t GetAllSolenoidOutputs() const;
+  uint8_t GetAllSolenoidOutputs() const override;
 
-  /**
-   * Change all of the solenoid outputs.
-   *
-   * @param outputs the new solenoid outputs (1 bit per output)
-   */
-  void SetAllSolenoidOutputs(uint8_t outputs);
+  void SetAllSolenoidOutputs(uint8_t outputs) override;
 
-  /**
-   * Reset all simulation data for this object.
-   */
-  void ResetData();
-
- private:
-  int m_index;
+  void ResetData() override;
 };
-}  // namespace sim
-}  // namespace frc
+}  // namespace frc::sim

wpilibc/src/main/native/include/frc/simulation/DoubleSolenoidSim.h

@@ -0,0 +1,33 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <memory>
+
+#include "frc/DoubleSolenoid.h"
+#include "frc/PneumaticsModuleType.h"
+#include "frc/simulation/PneumaticsBaseSim.h"
+
+namespace frc::sim {
+
+class DoubleSolenoidSim {
+ public:
+  DoubleSolenoidSim(std::shared_ptr<PneumaticsBaseSim> moduleSim, int fwd,
+                    int rev);
+  DoubleSolenoidSim(int module, PneumaticsModuleType type, int fwd, int rev);
+  DoubleSolenoidSim(PneumaticsModuleType type, int fwd, int rev);
+
+  DoubleSolenoid::Value Get() const;
+  void Set(DoubleSolenoid::Value output);
+
+  std::shared_ptr<PneumaticsBaseSim> GetModuleSim() const;
+
+ private:
+  std::shared_ptr<PneumaticsBaseSim> m_module;
+  int m_fwd;
+  int m_rev;
+};
+
+}  // namespace frc::sim

wpilibc/src/main/native/include/frc/simulation/PneumaticsBaseSim.h

@@ -0,0 +1,183 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <memory>
+
+#include "frc/PneumaticsBase.h"
+#include "frc/PneumaticsModuleType.h"
+#include "frc/simulation/CallbackStore.h"
+
+namespace frc::sim {
+
+class PneumaticsBaseSim {
+ public:
+  virtual ~PneumaticsBaseSim() = default;
+
+  static std::shared_ptr<PneumaticsBaseSim> GetForType(
+      int module, PneumaticsModuleType type);
+
+  /**
+   * Check whether the PCM/PH has been initialized.
+   *
+   * @return true if initialized
+   */
+  virtual bool GetInitialized() const = 0;
+
+  /**
+   * Define whether the PCM/PH has been initialized.
+   *
+   * @param initialized true for initialized
+   */
+  virtual void SetInitialized(bool initialized) = 0;
+
+  /**
+   * Register a callback to be run when the PCM/PH is initialized.
+   *
+   * @param callback the callback
+   * @param initialNotify whether to run the callback with the initial state
+   * @return the {@link CallbackStore} object associated with this callback.
+   * Save a reference to this object; it being deconstructed cancels the
+   * callback.
+   */
+  [[nodiscard]] virtual std::unique_ptr<CallbackStore>
+  RegisterInitializedCallback(NotifyCallback callback, bool initialNotify) = 0;
+
+  /**
+   * Check if the compressor is on.
+   *
+   * @return true if the compressor is active
+   */
+  virtual bool GetCompressorOn() const = 0;
+
+  /**
+   * Set whether the compressor is active.
+   *
+   * @param compressorOn the new value
+   */
+  virtual void SetCompressorOn(bool compressorOn) = 0;
+
+  /**
+   * Register a callback to be run when the compressor activates.
+   *
+   * @param callback the callback
+   * @param initialNotify whether to run the callback with the initial state
+   * @return the {@link CallbackStore} object associated with this callback.
+   * Save a reference to this object; it being deconstructed cancels the
+   * callback.
+   */
+  [[nodiscard]] virtual std::unique_ptr<CallbackStore>
+  RegisterCompressorOnCallback(NotifyCallback callback, bool initialNotify) = 0;
+
+  /**
+   * Check the solenoid output on a specific channel.
+   *
+   * @param channel the channel to check
+   * @return the solenoid output
+   */
+  virtual bool GetSolenoidOutput(int channel) const = 0;
+
+  /**
+   * Change the solenoid output on a specific channel.
+   *
+   * @param channel the channel to check
+   * @param solenoidOutput the new solenoid output
+   */
+  virtual void SetSolenoidOutput(int channel, bool solenoidOutput) = 0;
+
+  /**
+   * Register a callback to be run when the solenoid output on a channel
+   * changes.
+   *
+   * @param channel the channel to monitor
+   * @param callback the callback
+   * @param initialNotify should the callback be run with the initial value
+   * @return the {@link CallbackStore} object associated with this callback.
+   * Save a reference to this object; it being deconstructed cancels the
+   * callback.
+   */
+  [[nodiscard]] virtual std::unique_ptr<CallbackStore>
+  RegisterSolenoidOutputCallback(int channel, NotifyCallback callback,
+                                 bool initialNotify) = 0;
+
+  /**
+   * Check the value of the pressure switch.
+   *
+   * @return the pressure switch value
+   */
+  virtual bool GetPressureSwitch() const = 0;
+
+  /**
+   * Set the value of the pressure switch.
+   *
+   * @param pressureSwitch the new value
+   */
+  virtual void SetPressureSwitch(bool pressureSwitch) = 0;
+
+  /**
+   * Register a callback to be run whenever the pressure switch value changes.
+   *
+   * @param callback the callback
+   * @param initialNotify whether the callback should be called with the initial
+   * value
+   * @return the {@link CallbackStore} object associated with this callback.
+   * Save a reference to this object; it being deconstructed cancels the
+   * callback.
+   */
+  [[nodiscard]] virtual std::unique_ptr<CallbackStore>
+  RegisterPressureSwitchCallback(NotifyCallback callback,
+                                 bool initialNotify) = 0;
+
+  /**
+   * Read the compressor current.
+   *
+   * @return the current of the compressor connected to this module
+   */
+  virtual double GetCompressorCurrent() const = 0;
+
+  /**
+   * Set the compressor current.
+   *
+   * @param compressorCurrent the new compressor current
+   */
+  virtual void SetCompressorCurrent(double compressorCurrent) = 0;
+
+  /**
+   * Register a callback to be run whenever the compressor current changes.
+   *
+   * @param callback the callback
+   * @param initialNotify whether to call the callback with the initial state
+   * @return the {@link CallbackStore} object associated with this callback.
+   * Save a reference to this object; it being deconstructed cancels the
+   * callback.
+   */
+  [[nodiscard]] virtual std::unique_ptr<CallbackStore>
+  RegisterCompressorCurrentCallback(NotifyCallback callback,
+                                    bool initialNotify) = 0;
+
+  /**
+   * Get the current value of all solenoid outputs.
+   *
+   * @return the solenoid outputs (1 bit per output)
+   */
+  virtual uint8_t GetAllSolenoidOutputs() const = 0;
+
+  /**
+   * Change all of the solenoid outputs.
+   *
+   * @param outputs the new solenoid outputs (1 bit per output)
+   */
+  virtual void SetAllSolenoidOutputs(uint8_t outputs) = 0;
+
+  /** Reset all simulation data for this object. */
+  virtual void ResetData() = 0;
+
+ protected:
+  const int m_index;
+  explicit PneumaticsBaseSim(const PneumaticsBase& module);
+  explicit PneumaticsBaseSim(const int index);
+};
+
+}  // namespace frc::sim

wpilibc/src/main/native/include/frc/simulation/REVPHSim.h

@@ -8,6 +8,7 @@
 
 #include "frc/PneumaticsBase.h"
 #include "frc/simulation/CallbackStore.h"
+#include "frc/simulation/PneumaticsBaseSim.h"
 
 namespace frc {
 
@@ -18,7 +19,7 @@ namespace sim {
 /**
  * Class to control a simulated Pneumatic Control Module (PCM).
  */
-class REVPHSim {
+class REVPHSim : public PneumaticsBaseSim {
  public:
   /**
    * Constructs with the default PCM module number (CAN ID).
@@ -34,81 +35,38 @@ class REVPHSim {
 
   explicit REVPHSim(const PneumaticsBase& pneumatics);
 
-  /**
-   * Register a callback to be run when a solenoid is initialized on a channel.
-   *
-   * @param callback the callback
-   * @param initialNotify should the callback be run with the initial state
-   * @return the CallbackStore object associated with this callback
-   */
+  ~REVPHSim() override = default;
+
   [[nodiscard]] std::unique_ptr<CallbackStore> RegisterInitializedCallback(
-      NotifyCallback callback, bool initialNotify);
+      NotifyCallback callback, bool initialNotify) override;
 
-  /**
-   * Check if a solenoid has been initialized on a specific channel.
-   *
-   * @return true if initialized
-   */
-  bool GetInitialized() const;
+  bool GetInitialized() const override;
 
-  /**
-   * Define whether a solenoid has been initialized on a specific channel.
-   *
-   * @param solenoidInitialized is there a solenoid initialized on that channel
-   */
-  void SetInitialized(bool solenoidInitialized);
+  void SetInitialized(bool solenoidInitialized) override;
 
-  /**
-   * Register a callback to be run when the solenoid output on a channel
-   * changes.
-   *
-   * @param channel the channel to monitor
-   * @param callback the callback
-   * @param initialNotify should the callback be run with the initial value
-   * @return the CallbackStore object associated with this callback
-   */
   [[nodiscard]] std::unique_ptr<CallbackStore> RegisterSolenoidOutputCallback(
-      int channel, NotifyCallback callback, bool initialNotify);
+      int channel, NotifyCallback callback, bool initialNotify) override;
 
-  /**
-   * Check the solenoid output on a specific channel.
-   *
-   * @param channel the channel to check
-   * @return the solenoid output
-   */
-  bool GetSolenoidOutput(int channel) const;
+  bool GetSolenoidOutput(int channel) const override;
 
-  /**
-   * Change the solenoid output on a specific channel.
-   *
-   * @param channel the channel to check
-   * @param solenoidOutput the new solenoid output
-   */
-  void SetSolenoidOutput(int channel, bool solenoidOutput);
+  void SetSolenoidOutput(int channel, bool solenoidOutput) override;
 
-  /**
-   * Register a callback to be run when the compressor activates.
-   *
-   * @param callback the callback
-   * @param initialNotify whether to run the callback with the initial state
-   * @return the CallbackStore object associated with this callback
-   */
   [[nodiscard]] std::unique_ptr<CallbackStore> RegisterCompressorOnCallback(
-      NotifyCallback callback, bool initialNotify);
+      NotifyCallback callback, bool initialNotify) override;
 
   /**
    * Check if the compressor is on.
    *
    * @return true if the compressor is active
    */
-  bool GetCompressorOn() const;
+  bool GetCompressorOn() const override;
 
   /**
    * Set whether the compressor is active.
    *
    * @param compressorOn the new value
    */
-  void SetCompressorOn(bool compressorOn);
+  void SetCompressorOn(bool compressorOn) override;
 
   /**
    * Register a callback to be run whenever the closed loop state changes.
@@ -136,77 +94,26 @@ class REVPHSim {
    */
   void SetCompressorConfigType(int compressorConfigType);
 
-  /**
-   * Register a callback to be run whenever the pressure switch value changes.
-   *
-   * @param callback the callback
-   * @param initialNotify whether the callback should be called with the
-   *                      initial value
-   * @return the CallbackStore object associated with this callback
-   */
   [[nodiscard]] std::unique_ptr<CallbackStore> RegisterPressureSwitchCallback(
-      NotifyCallback callback, bool initialNotify);
+      NotifyCallback callback, bool initialNotify) override;
 
-  /**
-   * Check the value of the pressure switch.
-   *
-   * @return the pressure switch value
-   */
-  bool GetPressureSwitch() const;
+  bool GetPressureSwitch() const override;
 
-  /**
-   * Set the value of the pressure switch.
-   *
-   * @param pressureSwitch the new value
-   */
-  void SetPressureSwitch(bool pressureSwitch);
+  void SetPressureSwitch(bool pressureSwitch) override;
 
-  /**
-   * Register a callback to be run whenever the compressor current changes.
-   *
-   * @param callback the callback
-   * @param initialNotify whether to call the callback with the initial state
-   * @return the CallbackStore object associated with this callback
-   */
   [[nodiscard]] std::unique_ptr<CallbackStore>
   RegisterCompressorCurrentCallback(NotifyCallback callback,
-                                    bool initialNotify);
+                                    bool initialNotify) override;
 
-  /**
-   * Read the compressor current.
-   *
-   * @return the current of the compressor connected to this module
-   */
-  double GetCompressorCurrent() const;
+  double GetCompressorCurrent() const override;
 
-  /**
-   * Set the compressor current.
-   *
-   * @param compressorCurrent the new compressor current
-   */
-  void SetCompressorCurrent(double compressorCurrent);
+  void SetCompressorCurrent(double compressorCurrent) override;
 
-  /**
-   * Get the current value of all solenoid outputs.
-   *
-   * @return the solenoid outputs (1 bit per output)
-   */
-  uint8_t GetAllSolenoidOutputs() const;
+  uint8_t GetAllSolenoidOutputs() const override;
 
-  /**
-   * Change all of the solenoid outputs.
-   *
-   * @param outputs the new solenoid outputs (1 bit per output)
-   */
-  void SetAllSolenoidOutputs(uint8_t outputs);
+  void SetAllSolenoidOutputs(uint8_t outputs) override;
 
-  /**
-   * Reset all simulation data for this object.
-   */
-  void ResetData();
-
- private:
-  int m_index;
+  void ResetData() override;
 };
 }  // namespace sim
 }  // namespace frc

wpilibc/src/main/native/include/frc/simulation/SolenoidSim.h

@@ -0,0 +1,42 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <memory>
+
+#include "frc/PneumaticsModuleType.h"
+#include "frc/simulation/PneumaticsBaseSim.h"
+
+namespace frc::sim {
+
+class SolenoidSim {
+ public:
+  SolenoidSim(std::shared_ptr<PneumaticsBaseSim> moduleSim, int channel);
+  SolenoidSim(int module, PneumaticsModuleType type, int channel);
+  SolenoidSim(PneumaticsModuleType type, int channel);
+
+  bool GetOutput() const;
+  void SetOutput(bool output);
+
+  /**
+   * Register a callback to be run when the output of this solenoid has changed.
+   *
+   * @param callback the callback
+   * @param initialNotify whether to run the callback with the initial state
+   * @return the {@link CallbackStore} object associated with this callback.
+   * Save a reference to this object; it being deconstructed cancels the
+   * callback.
+   */
+  [[nodiscard]] virtual std::unique_ptr<CallbackStore> RegisterOutputCallback(
+      NotifyCallback callback, bool initialNotify);
+
+  std::shared_ptr<PneumaticsBaseSim> GetModuleSim() const;
+
+ private:
+  std::shared_ptr<PneumaticsBaseSim> m_module;
+  int m_channel;
+};
+
+}  // namespace frc::sim